Quote:
Originally Posted by JamesTerm
I have a question for you... (or anyone else that can answer)... Does your robot work in a way where you can submit desired angles to each wheel independently? (I presume that is what the *independent* means in your statement).
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Technologically, yes. We do not have inputs on the Driver's Station that can literally say, "right-front at 40deg", "left-rear at 60deg", etc, but in theory we have both the hardware and the programming input & feedback to move any wheel at any angle and speed (limited by motors/gearboxes) we'd like. Really we just steer in "modes", e.g. crab, snake, and some useful spins (who's radius we can control).
Quote:
Originally Posted by JamesTerm
If so, how do you sense when the rotation has reached its angle? potentiometer? IIRC Bomb Squad uses windows motors on each wheel to control the swerve. From what I have heard, other teams use a rod to swerve both front wheels the same amount, and can then have a manual control setup doing it this way.
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Our swerve rotation is controlled by Banebot RS-540's on 256:1 4-stage planetary gearboxes, one per module. (We used window motors last year.) We use Vishay encoders (981HE0B4WA1F16) which we can hand-adjust every once in a while as needed. This works quite well (way better than the Cherry AN8's), though the PID isn't perfect yet and the backlash is especially obvious in autonomous.
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Team 1640's LogoMotion Drive Train